Orthosis comprising a mechanical hip connection with three degrees of freedom

Abstract

The present invention relates to an orthosis (1) comprising a mechanical hip connection (4) comprising a frontal pivot link (10), a sagittal pivot link (20) and a transverse pivot link (30) made up of a plurality of pivot links (31-37) connected in pairs by connecting rods (38-45) so as to form a virtual pivot link (30) such that the transverse pivot axis (X3) intersects the volume delimited by the sagittal plane (P1), by a plane (P4) normal to the frontal pivot axis (X2) and comprising the sagittal pivot axis (X1), by the hip structure (2) and by the leg structure (3).

Description

[0001] DESCRIPTION

[0002] TITLE: Orthosis comprising a three-degree-of-freedom mechanical hip connection

[0003] TECHNICAL FIELD

[0004] This application relates to a system for assisting a person's mobility, or exoskeleton, capable in particular of supporting a user affected by a motor deficiency.

[0005] STATE OF THE ART

[0006] An exoskeleton generally comprises a pelvis structure, two leg structures, two foot structures and two hip structures. The pelvis structure is configured to position itself behind the kidneys of a user when wearing the exoskeleton and can be attached to the pelvis using a harness or straps to the user's body. Each leg structure is configured to position itself opposite one of the user's legs (left or right, depending on the structure), and comprises an upper leg segment and a lower leg segment, arranged to come opposite the user's thigh and calf, respectively. Each foot structure further comprises a support plane on which one of the user's feet (left or right, depending on the structure) can come to rest when the foot is flat.Finally, each hip structure is configured to position itself opposite one of the hips (left or right, depending on the structure).

[0007] Full control of the exoskeleton requires actuators and mechanical linkages to enable movement of the exoskeleton and thus allow movement of the user wearing the exoskeleton. Mechanical linkages typically include pivot, slide, and / or ball joints, while actuators may include cylinders or motors.

[0008] These mechanical connections and actuators are chosen to allow the exoskeleton to move without risking injury to the user wearing it. To this end, it is particularly important not to apply forces not supported by the user's limbs and to offer an exoskeleton that is both compact and moderately weighty.

[0009] To enable walking movement, the exoskeleton includes, among other things, mechanical hip links configured to connect the hip structure and each leg structure. Typically, these mechanical links include a pivot link configured to enable flexion / extension movements in the user's sagittal plane. Some exoskeletons may include an additional pivot link configured to enable abduction / adduction movements in the frontal plane. The pivot axes of these mechanical links are close to the pivot axes of the user's hip, and the pivot links are mounted on the exoskeleton so as to extend to the periphery of the user's body. The user can thus move forward or backward in the exoskeleton.

[0010] Certain exoskeletons such as the Atalante exoskeleton marketed by the Applicant further comprise a third pivot link configured to allow internal / external rotation movements in the transverse plane of the user. However, to reproduce the transverse pivot link of the human being, this pivot link should be positioned within the exoskeleton, at the location where the patient is located. The third pivot link of the Atalante exoskeleton has therefore been offset to the rear part of the exoskeleton. However, this offset has the consequence of generating unwanted movements of the user (his pelvis having to move forward during external rotation movements) and also involves limiting the movement of the leg structure relative to the hip structure to around twenty degrees in the transverse plane to avoid any risk of injury to the user resulting from these unwanted movements.The possible movements of the exoskeleton, and therefore of the user, although improved in comparison with mechanical links without transverse connection, can still be optimized.

[0011] STATEMENT OF THE INVENTION

[0012] An aim of the present application is to remedy the aforementioned drawbacks, by proposing an orthosis for a living being, preferably a human being, comprising a mechanical hip connection capable of allowing more movements in the frontal, sagittal and transverse planes, which is more ergonomic and more anthropomorphic than known orthoses.

[0013] To this end, according to a first aspect, an orthosis is proposed comprising a mechanical hip connection connecting a hip structure configured to be positioned opposite a hip of a user and a leg structure configured to receive a leg of the user, the mechanical hip connection comprising a frontal pivot connection configured to allow a rotational movement of the leg structure relative to the hip structure along a frontal pivot axis of the orthosis, a sagittal pivot connection configured to allow a rotational movement of the leg structure relative to the hip structure along a sagittal pivot axis of the orthosis and a transverse pivot connection configured to allow a rotational movement of the leg structure relative to the hip structure along a transverse pivot axis of the orthosis. In addition, the sagittal pivot axis and the frontal pivot axis are concurrent.Furthermore, the transverse pivot connection being composed of a plurality of pivot connections connected two by two by connecting rods so as to form a virtual pivot connection so that the transverse pivot axis intersects the volume delimited by the sagittal plane, by a plane normal to the frontal pivot axis and comprising the sagittal pivot axis, by the hip structure and by the leg structure.

[0014] Some preferred but non-limiting features of the orthosis according to the first aspect are the following, taken individually or in combination:

[0015] - the transverse pivot axis is normal to a plane formed by the frontal pivot axis and the sagittal pivot axis, a first point of intersection defined by the intersection between the plane and the transverse pivot axis being located at a distance of less than 150 mm from a second point of intersection defined by the intersection of the sagittal and frontal pivot axes, preferably less than 120 mm, preferably less than or equal to 100 mm, for example less than or equal to 92 mm;

[0016] - the first point of intersection is located at a distance less than or equal to 90 mm from the sagittal plane of the orthosis, preferably less than or equal to 60 mm, more preferably less than or equal to 40 mm, for example greater than or equal to 0 mm and less than or equal to 10 mm;

[0017] - the first point of intersection is located at a distance less than or equal to 90 mm from a plane parallel to the frontal plane of the orthosis and comprising the sagittal pivot axis, preferably less than or equal to 70 mm;

[0018] - the pivot links making up the transverse pivot link include:

[0019] * two first pivot links connected by a first rod;

[0020] * a second and a third pivot link each connected to a corresponding first pivot link by a second and a third link, respectively, the second and the third link being of the same length;

[0021] * a fourth pivot link connected to the second pivot link by a fourth connecting rod which is embedded with the second connecting rod;

[0022] * a fifth and a sixth pivot link connected respectively to the second pivot link and to the fourth pivot link by a fifth and a sixth connecting rod, respectively, the fifth and the sixth connecting rod being of the same length;

[0023] * a seventh connecting rod connecting the second and third pivot links and being embedded with the fifth connecting rod; and

[0024] * an eighth connecting rod connecting the fifth and sixth pivot links;

[0025] - the frontal pivot link is mechanically connected to the hip structure, the sagittal pivot link is mechanically connected to the leg structure, and the transverse pivot link is mechanically connected to the frontal pivot link and the sagittal pivot link;

[0026] - the orthosis further comprises a transverse actuator configured to actuate the transverse pivot link, a frontal actuator configured to actuate the frontal pivot link and a sagittal actuator configured to actuate the sagittal pivot link, the transverse actuator, the frontal actuator and the sagittal actuator being independent of each other;

[0027] - the orthosis further comprises a transverse actuator configured to actuate the transverse pivot connection, the transverse actuator comprising an actuating rod having a first end connected to the transverse pivot connection via a first ball joint connection and a second end connected to the hip structure via a second ball joint connection;

[0028] - the second ball joint is offset from the front pivot axis;

[0029] - the transverse actuator comprises an actuating plate coaxial with the front pivot axis;

[0030] - the second ball joint is connected to the actuating plate while being offset from the front pivot axis;

[0031] - the sagittal pivot axis of the sagittal pivot connection is integral in movement with a center of rotation of the first ball joint connection;

[0032] - the orthosis further comprises a front actuator configured to actuate the front pivot link, the front actuator being offset relative to the front pivot axis;

[0033] - the front actuator comprises two cables mounted crossed on the one hand on an output shaft of the front actuator and on the other hand on the front pivot link in order to pivot the front pivot link around the front pivot axis;

[0034] - the orthosis further comprises at least one of the following mechanical stops: a frontal stop configured to limit a rotation of the leg structure about the frontal pivot axis, a sagittal stop configured to limit a rotation of the leg structure about the sagittal pivot axis, a transverse stop configured to limit a rotation of the leg structure about the transverse pivot axis; and / or

[0035] - the orthosis is an exoskeleton.

[0036] The invention applies, for example, to exoskeletons, but also to any type of orthosis comprising a hip structure and a leg structure.

[0037] DESCRIPTION OF FIGURES

[0038] Other characteristics, aims and advantages of the invention will emerge from the following description, which is purely illustrative and non-limiting, and which must be read in conjunction with the appended drawings in which: Figure 1 is a kinematic model of an exemplary embodiment of a mechanical hip connection for an orthosis conforming to an embodiment of the invention, when the orthosis is at rest;

[0039] Figure 2 is a top view of the kinematic modeling of Figure 1;

[0040] Figure 3 corresponds to the kinematic modeling of Figure 1 during a pure rotational movement around the frontal pivot axis of the orthosis;

[0041] Figure 4 corresponds to the kinematic modeling of Figure 1 during a pure rotational movement around the transverse pivot axis of the orthosis;

[0042] Figure 5 corresponds to the kinematic modeling of Figure 1 during a pure rotational movement around the sagittal pivot axis of the orthosis;

[0043] Figure 6 is a simplified perspective view of an embodiment of an orthosis according to an embodiment of the invention illustrating an example of actuation of the transverse mechanical connection of the orthosis;

[0044] Figure 7 is a simplified back view of an exemplary embodiment of an orthosis according to an embodiment of the invention illustrating an example of actuation of the front mechanical connection of the orthosis, the leg structure being illustrated in two different positions;

[0045] Figure 8 is a simplified back view of an exemplary embodiment of an orthosis according to an embodiment of the invention illustrating an example of mechanical stops in the front pivot connection;

[0046] Figure 9 is a simplified top view of an exemplary embodiment of an orthosis according to an embodiment of the invention illustrating an example of a mechanical stop in the transverse pivot connection;

[0047] Figure 10 is a simplified side view of an exemplary embodiment of an orthosis according to an embodiment of the invention illustrating an example of mechanical stops in the sagittal pivot connection; and

[0048] Figure 11 is a simplified view of an exemplary exoskeleton comprising a mechanical hip connection according to one embodiment of the invention.

[0049] Throughout the figures, similar elements have identical references.

[0050] DETAILED DESCRIPTION OF THE INVENTION

[0051] An orthosis 1 according to the invention comprises a hip structure 2 configured to be positioned opposite a hip of a user and a leg structure 3 configured to receive a leg of the user. The hip structure 2 and the leg structure 3 are configured to be connected by a mechanical hip connection 4.

[0052] The leg structure 3 comprises an upper leg structure 3 configured to receive a thigh of a user, and optionally a lower leg structure 3 configured to receive a calf of the user. If applicable, the lower leg structure 3 and the upper leg structure 3 are connected by a mechanical knee connection allowing movement of the lower leg structure 3 relative to the upper leg structure 3. The hip structure 2 extends laterally relative to the corresponding hip of the user.

[0053] In the following, the invention will be described in the case of an orthosis 1 comprising the hip structure 2 and a leg structure 3. The invention applies, however, to any orthosis 1 for the human or animal body comprising a hip structure 2 and a leg structure 3, for example to an orthosis 1 comprising a right leg structure 3 and a left leg structure 3, with or without a lower leg structure 3, and where appropriate with a foot structure 5 connected by a mechanical ankle connection to each lower leg structure 3. The invention then applies symmetrically to the mechanical connection connecting the hip structure 2 to the right leg structure 3 and to the left leg structure 3.Optionally, the orthosis 1 may also include a pelvic structure 6, configured to position itself behind the user's kidneys when wearing the orthosis 1 and which may be attached to the user's pelvis using a harness or straps.

[0054] Orthosis 1 will be described in the following in relation to reference planes and axes, and more particularly a sagittal plane P1, a transverse plane P3 and a frontal plane P2 of orthosis 1. The direction of extension of these planes is defined when orthosis 1 is worn by a user who stands upright, with their feet close together and parallel to each other. In the following, this position will be defined as the resting position of orthosis 1 (or neutral position - see figures 1 and 2).

[0055] When the orthosis 1 comprises two leg structures, the sagittal plane P1 corresponds to the vertical symmetry plane of the orthosis 1, which passes through the center of the hip structure 2. The right leg structure 3 is then substantially symmetrical to the left leg structure 3 with respect to the sagittal plane P1. It will be noted that the sagittal plane P1 of an orthosis 1 according to the invention and comprising only one leg structure 3 is positioned at the same location on the orthosis 1 as if the orthosis 1 comprised two leg structures. It is therefore in this sagittal plane P1 that the flexion and extension movements of the leg structure 3 with respect to the hip structure 2 take place, for example, linked to walking.

[0056] The frontal plane P2 of orthosis 1 is normal to the sagittal plane P1 and divides orthosis 1 into two parts, an anterior (ventral) part and a posterior (dorsal) part. It is in this plane that the abduction and adduction movements of leg structure 3 take place in relation to hip structure 2, linked for example to hip swaying movements. The transverse plane P3 of orthosis 1 is normal to the sagittal plane P1 and to the frontal plane P2. It is parallel to the ground and divides orthosis 1 into two parts, an upper part (on the user's pelvis side) and a lower part (on the user's feet side). It is in this plane that the internal and external rotation movements of leg structure 3 take place in relation to hip structure 2, linked for example to twisting movements of leg structure 3.

[0057] The 4-part hip mechanical linkage includes:

[0058] - a frontal pivot connection 10 configured to allow a rotational movement of the leg structure 3 relative to the hip structure 2 around a frontal pivot axis X2 which is normal to the frontal plane P2 of the orthosis 1;

[0059] - a sagittal pivot connection 20 configured to allow a rotational movement of the leg structure 3 relative to the hip structure 2 around a sagittal pivot axis X1 which is normal to the sagittal plane P1 of the orthosis 1 when the orthosis 1 is at rest; and

[0060] - a transverse pivot link 30 configured to allow a rotational movement of the leg structure 3 relative to the hip structure 2 around a transverse pivot axis X3 which is normal to the transverse plane P3 of the orthosis 1 when the orthosis 1 is at rest.

[0061] The sagittal pivot axis X1 and the frontal pivot axis X2 are concurrent, that is to say they intersect at a first point of intersection 11. Preferably, when a user wears the orthosis 1, at rest, this first point of intersection 11 coincides with the center of rotation of the corresponding hip joint of the user (coxo-femoral joint which is comparable to a spherical ball joint).

[0062] The transverse pivot link 30 is composed of a plurality of pivot links 31-37 connected two by two by connecting rods 38-45 so as to form a virtual pivot link 30 such that the transverse pivot axis X3 intersects the volume delimited by the sagittal plane P1, by a plane P4 normal to the frontal pivot axis X2 and comprising the sagittal pivot axis X1, by the hip structure 2 and by the leg structure 3. In other words, the intersection I2 between the (transverse) pivot axis of the virtual pivot link 30 and the plane comprising the frontal pivot axes X2 and sagittal X1 is located in the volume which extends between the hip structure 2 and the leg structure 3 on the one hand and between the sagittal pivot axes X1 and frontal X2 on the other hand.

[0063] By "link" is meant here a rigid part that is not deformable under normal conditions of use of the orthosis 1. The pivot links 31-37 connected by a given link 38-45 are therefore connected to each other in a fixed manner so that the distance between their respective axes of rotation is constant under normal conditions of use. The mechanical hip link 4 thus obtained is more ergonomic, insofar as the sagittal pivot axes X1 and frontal X2 correspond to the natural pivot axes of the user's hip joint and can be concurrent with these natural pivot axes. Furthermore, since the pivot axis X3 of the virtual pivot link 30 is close to the center of rotation of the coxofemoral hip joint, unwanted movements that could cause the user's pelvis to move forward during a walking movement or to spread his leg outwards are greatly limited.The external rotation travel can also be greater, which gives three real degrees of freedom to the mechanical hip connection 4 of the orthosis 1, allowing the user to walk stably (without requiring crutches).

[0064] The creation of the virtual pivot link 30 using pivot links 31-37 connected in series by connecting rods 38-45 makes it possible to bring the pivot axis X3 of the transverse pivot link 30 closer to the center of rotation of the coxofemoral joint of the hip, without risking injury to the user and avoiding the need to place the pivot link in the user's body. Indeed, the decomposition of the transverse pivot link 30 into a plurality of pivot links 31-37 in series makes it possible to move a part of the joint outside the volume occupied by the user while positioning the pivot axis resulting from this decomposition in this volume, that is to say substantially close to the first point of intersection 11, between the frontal pivot axis X2 and the sagittal pivot axis X1.

[0065] The transverse pivot axis X3 intersects the plane comprising the frontal pivot axis X2 and the sagittal pivot axis X1 at a second intersection point I2. The virtual pivot link 30 is then configured so that the distance d1 between this second intersection point I2 and the first intersection point 11 (between the sagittal pivot axes X1 and frontal pivot axes X2) is less than 150 mm when the orthosis 1 is at rest, preferably less than 120 mm, more preferably less than 100 mm, for example less than or equal to 92 mm, typically of the order of 70 mm. Furthermore, the second point of intersection I2 is located at a distance d2 less than or equal to 90 mm from the sagittal plane P1 of the orthosis 1 when the orthosis 1 is at rest, preferably less than or equal to 60 mm, more preferably less than or equal to 40 mm, for example at least equal to 0 mm and at most equal to 10 mm.The second intersection point I2 may then be located at a distance d3 less than or equal to 90 mm from the plane P4 (which is normal to the frontal pivot axis X2 and includes the sagittal pivot axis X1 of the orthosis 1) when the orthosis 1 is at rest, preferably less than or equal to 70 mm. It will be noted that the transverse pivot axis X3 is preferably normal to the plane including the sagittal pivot axis X1 and the frontal pivot axis X2.

[0066] In this configuration, the possible angle of movement of the virtual pivot link 30, without the parasitic movements being noticeable for the user, is at least equal to 40° when the distance d1 is of the order of 70 mm, the distance d2 is between 0 mm and 10 mm and the distance d3 is less than or equal to 70 mm.

[0067] The orthosis 1 further comprises actuators 12, 22, 32 configured to independently actuate the frontal pivot link 10, the transverse pivot link 30 and the sagittal pivot link 20. The independent actuation of the different pivot links 10, 20, 30 in fact makes it possible to simplify the control of the mechanical hip link 4. For this, the orthosis 1 comprises a transverse actuator 32 configured to actuate the transverse pivot link 30, a frontal actuator 12 configured to actuate the frontal pivot link 10 and a sagittal actuator 22 configured to actuate the sagittal pivot link 20, these three actuators 12, 22, 32 being independent of each other. Each actuator 12, 22, 32 comprises, in a manner known per se, a motor configured to rotate an output shaft 15, 24 to which the corresponding pivot connection 10, 20, 30 is connected (directly or indirectly).

[0068] Furthermore, the frontal pivot link 10 is mechanically connected to the hip structure 2, the sagittal pivot link 20 is mechanically connected to the leg structure 3 and the transverse pivot link 30 is mechanically connected to the frontal pivot link 10 and to the sagittal pivot link 20. The frontal pivot links 10, transverse pivot links 30 and sagittal pivot links 20 are therefore mounted in series. In addition, the sagittal actuator 22 is mounted on the transverse pivot link 30 and the transverse actuator 32 is mounted on the frontal pivot link 10.This configuration thus allows the use of independent mechanical stops 19a-b, 25a-b, 52 for each pivot axis X1, X2, X3 of the mechanical hip connection 4, which guarantees the safety of the patient in all situations because these mechanical stops 19a-b, 25a-b, 52 prevent the orthosis 1 from performing movements going beyond the deflections of the user's joints, even when there is a loss of control of the actuators 12, 22, 32.

[0069] The transverse pivot connection 30 may in particular comprise:

[0070] - two first pivot links 31, 32 connected to each other by a first connecting rod 38;

[0071] - a second and a third pivot link 33, 34 each connected to a corresponding first pivot link 31, 32 by a second and a third link 39, 40, respectively, the second and the third link 39, 40 being of the same length;

[0072] - a fourth pivot link 35 connected to the second pivot link 33 by a fourth connecting rod 41 which is embedded with the second connecting rod 39;

[0073] - a fifth and a sixth pivot link 36, 37 connected respectively to the second pivot link 33 and to the fourth pivot link 35 by a fifth and a sixth link 42, 43, respectively, the fifth and the sixth link 42, 43 being of the same length; - a seventh link 44 connecting the second and the third pivot link 33, 34 and being embedded with the fifth link 42; and

[0074] - an eighth connecting rod 45 connecting the fifth and sixth pivot links 36, 37.

[0075] The length of the eighth connecting rod 45 is substantially equal to the length of the fourth connecting rod 41 so that the spacing between the pivot axes of the fifth and sixth pivot links 36, 37 is substantially equal to the spacing between the pivot axes of the second and third pivot links 33, 34. Similarly, the length of the first connecting rod 38 is substantially equal to the length of the seventh connecting rod 44 so that the spacing between the pivot axes of the first pivot links 31, 32 is substantially equal to the spacing between the pivot axes of the second and third pivot links 33, 34.

[0076] When the orthosis 1 is at rest, the pivot axes of the second, third and fifth pivot links 33, 34, 37 are aligned. Similarly, the pivot axes of the first pivot link 31 which is connected to the second connecting rod 39 and of the second and fourth pivot links 33, 35 are aligned.

[0077] In one embodiment, each pivot link 31-37 and at least a portion of the links 39-43 are doubled in order to increase the rigidity of the transverse pivot link 30, in particular with respect to ground actions. For this, each pivot link 31-37 comprises an upper pivot link and a lower pivot link (see figures 1 and 3 to 5) whose pivot axes are coincident and which are connected two by two by a plurality of vertical links 46. The upper pivot links 31-37 are further connected two by two by upper links 38-45 and the lower pivot links 31-37 are connected two by two by lower links 39-43. It will be noted that the number of upper links 38-45 and lower links 39-43 may be different.

[0078] The transverse pivot link 30 being mounted on the front pivot link 10, the torque and the speed of movement of the transverse pivot link 30 depend on the position of said link 30.

[0079] The front pivot connection 10 may for example comprise a pulley 13 mounted in the hip structure 2 and centered on the front pivot axis X2 which is fixedly connected to the leg structure 3 by a front actuating link 14 (hereinafter front link 14 - see figures 2 and 6 in particular) so that the rotation of the pulley 13 relative to the hip structure 2 causes the leg structure 3 to rotate around the front pivot axis X2. The pulley 13 can be mounted on the output shaft 15 (or where appropriate a single-piece pulley with the output shaft 15) of the front actuator 12. Alternatively, the output shaft 15 of the front actuator 12 can be offset in the hip structure 2 relative to the front pivot axis X2 and drive the pulley 13 via cables 16, 17. An example of a remote drive has for example been illustrated in FIG. 7.The output shaft 15 of the front actuator 12 is offset from the front pivot axis X2 and extends above the pulley 13. A first cable 16 connects the output shaft 15 to the pulley 13 so as to pivot the pulley 13 in a first direction about the front pivot axis X2 and a second cable 17 connects the pulley 13 to the output shaft 15 so as to pivot the pulley 13 in a second direction about the pivot axis X2. The cables 16, 17 cross at an intermediate position between the output shaft 15 and the pulley 13 so that the first direction and the second direction are opposite.

[0080] The remote actuation of the front pivot link 10 makes it possible to reduce the size of the actuation of the mechanical hip link 4. The use of cables 16, 17 also makes it possible to increase the reduction ratio of the motor of the front actuator 12 while reducing its size, which is all the more relevant in the context of the front pivot link 10 insofar as the torque required to be applied to this link 10 is greater than that required for the transverse 30 and sagittal 20 pivot links. The reduction ratio is defined by the diameter of the pulley 13 and of the part of the output shaft 15 on which the cables 16, 17 are fixed. The output shaft 15 (or where appropriate the single-piece pulley with the output shaft 15 and on which the cables 16, 17 are fixed) may for example have a diameter half the diameter of the pulley 13.Optionally, the orthosis 1 comprises a preloading system 18 for the tension of the cables 16, 17 integrated into the hip structure 2, configured to apply tension to the cables 16, 17 and thus guarantee the precision of the actuation of the front pivot connection 10. The preloading system 18 may in particular comprise a screw system in order to adjust the tension applied to each cable 16, 17.

[0081] The transverse pivot link 30 is connected to the front link 14 of the front pivot link 10. The pure rotation of the leg structure 3 around the front pivot axis X2 therefore has the effect of pivoting the transverse pivot link 30 and the sagittal pivot link 20 around the front pivot axis X2.

[0082] The transverse actuator 32 may comprise a first transverse actuating link 47 (hereinafter, first transverse link 47) comprising a first end connected to the transverse pivot link 30 via a first ball joint 48 and a second end connected to the hip structure 2 via a second ball joint 49.

[0083] In one embodiment, the hip structure 2 comprises an actuating plate 50 mounted coaxially with the front pivot axis X2 in the hip structure 2 so as to be movable in rotation about the front pivot axis X2. The plate 50 is cylindrical in revolution and is connected to the output shaft of the transverse actuator 32. The plate 50 may, if necessary, be mounted within the pulley 13 of the front pivot connection 10. The second ball joint 49 is then fixed to the plate 50 while being offset relative to the front pivot axis X2 in order to create a rod-crank effect (see figures 2 and 6 for example). In this way, the rotation of the plate 50 relative to the hip structure 2 has the effect of moving the first transverse rod 47 relative to the hip structure 2.The first ball joint 48 is mounted on a second transverse actuating rod 51 (hereinafter second transverse rod 51) of the transverse pivot link 30, which can for example be mounted on the eighth rod 45. Finally, in the embodiment illustrated in the figures, the first transverse rod 47 is mounted on the output of the front rod 14 of the front pivot link 10. In other words, the transverse pivot link 30 is mounted on the output of the front pivot link 10.

[0084] When the front pivot link 10 (and therefore the front link 14) is fixed, the movement of the plate 50 relative to the hip structure 2 (and, where appropriate, to the pulley 13 of the front pivot link 10) by the motor of the transverse actuator 32 has the effect of pushing or pulling (depending on the direction of rotation of the plate 50) on the first transverse link 47 thanks to the rod-crank system and therefore of moving the second transverse link 51 (see figure 4). The transverse pivot link 30 then rotates around its pivot axis X3. In addition, since the sagittal pivot link 20 is mounted on the output of the transverse pivot link 30, the pure rotation of the leg structure 3 around the transverse pivot axis X3 has the effect of pivoting the sagittal pivot link 20 around the transverse pivot axis X3.

[0085] The sagittal pivot connection 20 comprises a sagittal link 23 fixedly mounted on one of the links 38-45, 47, 51 of the transverse pivot connection 30, typically the second transverse link 51 and / or the eighth link 45. The sagittal link 23 may, if necessary, be monolithic with the second transverse link 51 and / or the eighth link 45. The pivot axis X1 of the sagittal pivot connection 20 is therefore integral in movement with a center of rotation of the first ball joint connection 48.

[0086] The output shaft 24 of the sagittal actuator 22 may be coaxial with the sagittal pivot axis X1 and be configured to rotate (directly or indirectly, via an associated plate) the leg structure 3 around the sagittal pivot axis X1. The rotation of the output shaft 24 then has the effect of rotating the leg structure 3 relative to the sagittal link 23 around the sagittal pivot axis X1.

[0087] As indicated above, the orthosis 1 may further comprise mechanical stops 19a-b, 25a-b, 52 configured to limit the movement of the mechanical hip connection 4 and protect the user, even in the event of failure of one of the actuators 12, 22, 32. These mechanical stops 19a-b, 25a-b, 25b, 52 are independent. Furthermore, they are designed to be easily interchangeable to allow customization of the joint movements according to the movement capacities of each user.

[0088] The orthosis 1 may comprise at least one of the following mechanical stops 19a-b, 25a-b, 25b, 52: a frontal stop 19a-b configured to limit a rotation of the leg structure 3 around the frontal pivot axis X2, a sagittal stop 25a-b configured to limit a rotation of the leg structure 3 around the sagittal pivot axis X1, a transverse stop 52 configured to limit a rotation of the leg structure 3 around the transverse pivot axis X3.

[0089] The mechanical stop 19a-b of the front pivot connection 10 may in particular comprise at least one lug 19a fixed on the pulley 13 so as to project radially relative to the pulley 13, and as many protrusions 19b fixed on the hip structure 2, each lug 19a being configured to come into contact with a corresponding protrusion 19b when the leg structure 3 reaches the maximum permissible movement around the front pivot axis X2.Preferably, the orthosis 1 comprises a high mechanical stop 19a-b configured to prevent rotation in a first direction of the front pivot connection 10 beyond a first maximum movement, for example + 20° relative to the neutral position, at rest (abduction movement of the leg structure 3), and a low mechanical stop 19a-b configured to prevent rotation in a second direction of the front pivot connection 10 opposite to the first direction of rotation beyond a second maximum movement, for example - 10° relative to the neutral position, at rest (adduction movement of the leg structure 3).

[0090] The mechanical stop 52 of the transverse pivot connection 30 may comprise a lug 52a fixed on one of the links 38-45 forming the transverse pivot connection 30, for example the fifth link 42, and configured to come into abutment against a protuberance fixed on or forming at least one other of the links 38-45 of the transverse pivot connection 30, for example the second link 39 (which is integral with the fourth link 41).Preferably, the orthosis 1 comprises an internal mechanical stop configured to prevent rotation in a first direction of the transverse pivot connection 30 beyond a first maximum travel (the corresponding protrusion then being fixed on or formed by the second link 39), for example - 10° relative to the neutral position, at rest (internal rotational movement of the leg structure 3), and an external mechanical stop configured to prevent rotation in a second direction of the transverse pivot connection 30 opposite to the first direction of rotation beyond a second maximum travel (the corresponding protrusion then being fixed on or formed by the sixth link 43), for example + 30° relative to the neutral position, at rest (external rotational movement of the leg structure 3).

[0091] For example, the lug 52a may comprise a plate attached and fixed to the fifth connecting rod 42 and having a first face 53 forming an internal mechanical stop and configured to come into contact with the second connecting rod 39 opposite, and a second face 54 opposite the first face 53, forming an external mechanical stop configured to come into contact with the fourth connecting rod 41 (see figure 9 for example).

[0092] Preferably, when the pivot links 31-37 of the transverse pivot link 30 are doubled, each mechanical stop 52 can also be doubled symmetrically (top / bottom) in order to increase the robustness of the stop system. The orthosis 1 then comprises upper mechanical stops, fixed on the upper links 38-45, and lower mechanical stops, fixed on the corresponding lower links 39-43, at right angles to the upper mechanical stops.

[0093] The mechanical stop 25a-b of the sagittal pivot connection 20 may, in a manner similar to the mechanical stop of the front pivot connection 10, comprise at least one lug 24a integral in movement with the output shaft 24 of the sagittal actuator 22 so as to project radially relative to the output shaft 24, and as many protuberances 25b mounted fixed relative to the sagittal link 23, each lug 25a being configured to come into contact with a corresponding protuberance 25b when the leg structure 3 reaches the maximum permissible travel around the sagittal pivot axis X1.Preferably, the orthosis 1 comprises a high mechanical stop 25a-b configured to prevent rotation in a first direction of the sagittal pivot connection 20 beyond a first maximum movement, for example + 115° relative to the neutral position, at rest (flexion movement of the leg structure 3), and a low mechanical stop 25a-b configured to prevent rotation in a second direction of the sagittal pivot connection opposite to the first direction of rotation beyond a second maximum movement, for example - 15° relative to the neutral position, at rest (extension movement of the leg structure 3).

[0094] For example, the lugs 24a of the upper and lower mechanical stops can be formed by two opposite faces of a connecting rod of the leg structure 3 (see figure 10).

Claims

DEMANDS 1. Orthosis (1) comprising a mechanical hip link (4) connecting a hip structure (2) configured to be positioned opposite a user's hip and a leg structure (3) configured to receive a user's leg, the mechanical hip link (4) comprising a frontal pivot link (10) configured to allow rotational movement of the leg structure (3) relative to the hip structure (2) along a frontal pivot axis (X2) of the orthosis (1), a sagittal pivot link (20) configured to allow rotational movement of the leg structure (3) relative to the hip structure (2) along a sagittal pivot axis (X1) of the orthosis (1) and a transverse pivot link (30) configured to allow rotational movement of the leg structure (3) relative to the hip structure (2) along a transverse pivot axis (X3) of the orthosis (1);the sagittal pivot axis (X1) and the frontal pivot axis (X2) being concurrent; the transverse pivot joint (30) being composed of a plurality of pivot joints (31-37) connected in pairs by connecting rods (38-45) so as to form a virtual pivot joint (30) such that the transverse pivot axis (X3) intersects the volume delimited by the sagittal plane (P1), by a plane (P4) normal to the frontal pivot axis (X2) and including the sagittal pivot axis (X1), by the hip structure (2) and by the leg structure (3).; 2. Orthosis (1) according to claim 1, wherein the transverse pivot axis (X3) is normal to a plane formed by the frontal pivot axis (X2) and the sagittal pivot axis (X1), a first point of intersection (11) defined by the intersection between the plane and the transverse pivot axis (X3) being located at a distance (d1) less than 150 mm from a second point of intersection (I2) defined by the intersection of the sagittal and frontal pivot axes, preferably less than 120 mm, preferably less than or equal to 100 mm, for example less than or equal to 92 mm.

3. Orthosis (1) according to claim 2, wherein the first point of intersection (11) is located at a distance (d2) less than or equal to 90 mm from the sagittal plane (P1) of the orthosis (1), preferably less than or equal to 60 mm, more preferably less than or equal to 40 mm, for example greater than or equal to 0 mm and less than or equal to 10 mm.

4. Orthosis (1) according to any one of claims 2 and 3, wherein the first point of intersection (11) is located at a distance (d3) less than or equal to 90 mm from a plane parallel to the frontal plane (P2) of the orthosis (1) and comprising the sagittal pivot axis (X1), preferably less than or equal to 70 mm.

5. Orthosis (1) according to any one of claims 1 to 4, wherein the pivot joints (31-37) composing the transverse pivot joint (30) comprise: - two first pivot links (31, 32) connected by a first connecting rod (38); - a second and a third pivot joint (33, 34) each connected to a corresponding first pivot joint (31, 23) by a second and a third connecting rod (39, 40), respectively, the second and third connecting rod (30, 40) being of the same length; - a fourth pivot joint (35) connected to the second pivot joint (33) by a fourth connecting rod (41) which is embedded with the second connecting rod (39); - a fifth and a sixth pivot link (36, 37) connected respectively to the second pivot link (33) and to the fourth pivot link (35) by a fifth and a sixth connecting rod (42, 43), respectively, the fifth and sixth connecting rod (42, 43) being of the same length; - a seventh connecting rod (44) linking the second and third pivot joints (33, 34) and being embedded with the fifth connecting rod (42); and - an eighth connecting rod (45) connecting the fifth and sixth pivot link (36, 37).

6. Orthosis (1) according to any one of claims 1 to 5, wherein the frontal pivot joint (10) is mechanically connected to the hip structure (2), the sagittal pivot joint (20) is mechanically connected to the leg structure (3), and the transverse pivot joint (30) is mechanically connected to the frontal pivot joint (10) and to the sagittal pivot joint (20).

7. Orthosis (1) according to any one of claims 1 to 6, further comprising a transverse actuator (32) configured to actuate the transverse pivot joint (30), a frontal actuator (12) configured to actuate the frontal pivot joint (10) and a sagittal actuator (22) configured to actuate the sagittal pivot joint (20), the transverse actuator (32), the frontal actuator (12) and the sagittal actuator (22) being independent of each other.

8. Orthosis (1) according to any one of claims 1 to 7, further comprising a transverse actuator (32) configured to actuate the transverse pivot joint (30), the transverse actuator (32) comprising an actuating rod (47) having a first end connected to the transverse pivot joint (30) via a first ball joint (48) and a second end connected to the hip structure (2) via a second ball joint (49).

9. Orthosis (1) according to claim 8, wherein the second ball joint (49) is offset with respect to the frontal pivot axis (X2).

10. Orthosis (1) according to one of claims 8 and 9, wherein the transverse actuator (32) comprises an actuation plate (50) coaxial with the front pivot axis (X2).

11. Orthosis (1) according to claim 10, wherein the second ball joint (49) is connected to the actuation plate by being offset from the front pivot axis (X2).

12. Orthosis (1) according to any one of claims 8 to 11, wherein the sagittal pivot axis (X1) of the sagittal pivot joint (20) is fixed in motion to a center of rotation of the first ball joint (48).

13. Orthosis (1) according to any one of claims 1 to 12, further comprising a front actuator (12) configured to actuate the front pivot link (10), the front actuator (12) being offset from the front pivot axis (X2).

14. Orthosis (1) according to claim 13, wherein the front actuator (12) comprises two cables (16, 17) mounted crossed on one side on an output shaft (15) of the front actuator (12) and on the other side on the front pivot joint (10) in order to pivot the front pivot joint (10) around the front pivot axis (X2).

15. Orthosis (1) according to any one of claims 1 to 14, further comprising at least one of the following mechanical stops (19a, 19b; 25a, 25b, 52): a frontal stop (19a, 19b) configured to limit a rotation of the leg structure (3) around the frontal pivot axis (X2), a sagittal stop (25a, 25b) configured to limit a rotation of the leg structure (3) around the sagittal pivot axis (X1), a transverse stop (52) configured to limit a rotation of the leg structure (3) around the transverse pivot axis (X3).

16. Orthosis (1) according to any one of claims 1 to 15, said orthosis being an exoskeleton.

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